Nonlinear disturbance attenuation control of hydraulic robotics

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order filters are pre-defined. The proposed method is nonlinear, which does not require the linearization of the rigid body dynamics. The estimated disturbances are used by the nonlinear controller in order to achieve disturbance attenuation. The performance of the proposed approach is compared with existing approaches. Finally, the tracking performance and robustness of the proposed approach is validated extensively on real hardware by performing different tasks under either internal or both internal and external disturbances. The experimental results demonstrate the robustness and superior tracking performance of the proposed approach

Borrowing from Yourself: The Determinants of 401(k) Loan Patterns

This paper explores the determinants of people’s decisions to take 401(k) loans. We argue that 401(k) plans do not simply represent retirement saving, but they also provide a means of saving for precautionary purposes. We model factors that rationally would induce people to borrow from their pension plans, and we explain why people do not often use 401(k) loans to replace their more expensive credit card debt. Next we test our hypotheses using a rich dataset and show that people who are liquidity-constrained are more likely to have plan loans, while the better-off take larger loans when they do borrow. Plan characteristics such as the number of loans allowed also influence borrowing and loan size in interesting ways, while loan interest rates have only a small impact.

Precision Synthesis of Silicon Nanowires with Crystalline Core and Amorphous Shell

A synthetic route to crystalline silicon (Si) nanowires with an amorphous Si shell is reported. Trisilane (Si3H8) and Sn(HMDS)(2) are decomposed in supercritical toluene at 450 degrees C. Sn(HMDS)(2) creates Sn nanoparticles that seed Si nanowire growth by the supercritical fluid-liquid-solid (SFLS) mechanism. The Si : Sn ratio in the reaction determines the growth of amorphous Si shell. No amorphous shell forms at relatively low Si : Sn ratios of 20 : 1, whereas higher Si : Sn ratio of 40 : 1 leads to significant amorphous shell. We propose that hydrogen evolved from trisilane decomposition etches away the Sn seed particles as nanowires grow, which promotes the amorphous Si shell deposition when the higher Si : Sn ratios are used.Robert A. Welch Foundation F-1464U.S. Department of Energy Office of Science, Office of Basic Energy Sciences DE-SC0001091National Defense Science and Engineering Graduate FellowshipChemistr

GEOSIM: A numerical model for geophysical fluid flow simulation

A numerical model which simulates geophysical fluid flow in a wide range of problems is described in detail, and comparisons of some of the model's results are made with previous experimental and numerical studies. The model is based upon the Boussinesq Navier-Stokes equations in spherical coordinates, which can be reduced to a cylindrical system when latitudinal walls are used near the pole and the ratio of latitudinal length to the radius of the sphere is small. The equations are approximated by finite differences in the meridional plane and spectral decomposition in the azimuthal direction. The user can specify a variety of boundary and initial conditions, and there are five different spectral truncation options. The results of five validation cases are presented: (1) the transition between axisymmetric flow and baroclinic wave flow in the side heated annulus; (2) the steady baroclinic wave of the side heated annulus; (3) the wave amplitude vacillation of the side heated annulus; (4) transition to baroclinic wave flow in a bottom heated annulus; and (5) the Spacelab Geophysical Fluid Flow Cell (spherical) experiment

Flexible Neural Electrode Array Based-on Porous Graphene for Cortical Microstimulation and Sensing.

Neural sensing and stimulation have been the backbone of neuroscience research, brain-machine interfaces and clinical neuromodulation therapies for decades. To-date, most of the neural stimulation systems have relied on sharp metal microelectrodes with poor electrochemical properties that induce extensive damage to the tissue and significantly degrade the long-term stability of implantable systems. Here, we demonstrate a flexible cortical microelectrode array based on porous graphene, which is capable of efficient electrophysiological sensing and stimulation from the brain surface, without penetrating into the tissue. Porous graphene electrodes show superior impedance and charge injection characteristics making them ideal for high efficiency cortical sensing and stimulation. They exhibit no physical delamination or degradation even after 1 million biphasic stimulation cycles, confirming high endurance. In in vivo experiments with rodents, same array is used to sense brain activity patterns with high spatio-temporal resolution and to control leg muscles with high-precision electrical stimulation from the cortical surface. Flexible porous graphene array offers a minimally invasive but high efficiency neuromodulation scheme with potential applications in cortical mapping, brain-computer interfaces, treatment of neurological disorders, where high resolution and simultaneous recording and stimulation of neural activity are crucial

DNA nanotechnology: new adventures for an old warhorse

As the blueprint of life, the natural exploits of DNA are admirable. However, DNA should not only be viewed within a biological context. It is an elegantly simple yet functionally complex chemical polymer with properties that make it an ideal platform for engineering new nanotechnologies. Rapidly advancing synthesis and sequencing technologies are enabling novel unnatural applications for DNA beyond the realm of genetics. Here we explore the chemical biology of DNA nanotechnology for emerging applications in communication and digital data storage. Early studies of DNA as an alternative to magnetic and optical storage mediums have not only been promising, but have demonstrated the potential of DNA to revolutionize the way we interact with digital data in the future.United States. Defense Advanced Research Projects Agency (Contract FA8721-05-C-0002)National Institutes of Health (U.S.) (Grant 1R01EB017755)National Institutes of Health (U.S.) (Grant 1DP2OD008435)National Institutes of Health (U.S.) (Grant 1P50GM098792

Social Interaction Effects and Individual Portfolio Choice: Evidence from 401(k) Pension Plan Investors

We show that participants are influenced by their coworkers when they make equity investment decisions. Using a rich dataset of 401(k) plans, we find that individuals are likely to increase (decrease) their risky share when they have lower (higher) equity exposure than their coworkers in the last period. The effect is especially strong when the difference in equity exposure is substantial. Furthermore, individuals are likely to increase their equity exposure if they earn lower equity returns than their coworkers did in the last period. However, when their returns on equity are higher than their peers’, they tend not to decrease their risky share. The interaction of peer behavior and peer outcome influences investment decisions, inducing individuals with substantially lower equity exposure than their coworkers to increase their risky share when coworkers also earned higher returns. Finally, we find that there exists heterogeneity in short-term excess returns following social interaction

The Schr\"odinger Functional for Improved Gluon and Quark Actions

The Schr\"odinger Functional (quantum/lattice field theory with Dirichlet boundary conditions) is a powerful tool in the non-perturbative improvement and for the study of other aspects of lattice QCD. Here we adapt it to improved gluon and quark actions, on isotropic as well as anisotropic lattices. Specifically, we describe the structure of the boundary layers, obtain the exact form of the classically improved gauge action, and outline the modifications necessary on the quantum level. The projector structure of Wilson-type quark actions determines which field components can be specified at the boundaries. We derive the form of O(a) improved quark actions and describe how the coefficients can be tuned non-perturbatively. There is one coefficient to be tuned for an isotropic lattice, three in the anisotropic case. Our ultimate aim is the construction of actions that allow accurate simulations of all aspects of QCD on coarse lattices.Comment: 39 pages, LaTeX, 11 embedded eps file

Basic studies of baroclinic flows

A fully nonlinear 3-dimensional numerical model (GEOSIM), previously developed and validated for several cases of geophysical fluid flow, has been used to investigate the dynamical behavior of laboratory experiments of fluid flows similar to those of the Earth's atmosphere. The phenomena investigated are amplitude vacillation, and the response of the fluid system to uneven heating and cooling. The previous year's work included hysteresis in the transition between axisymmetric and wave flow. Investigation is also continuing of the flows in the Geophysical Fluid Flow Cell (GFFC), a low-gravity Spacelab experiment. Much of the effort in the past year has been spent in validation of the model under a wide range of external parameters including nonlinear flow regimes. With the implementation of a 3-dimensional upwind differencing scheme, higher spectral resolution, and a shorter time step, the model has been found capable of predicting the majority of flow regimes observed in one complete series of baroclinic annulus experiments of Pfeffer and co-workers. Detailed analysis of amplitude vacillation has revealed that the phase splitting described in the laboratory experiments occurs in some but not all cases. Through the use of animation of the models output, a vivid 3-dimensional view of the phase splitting was shown to the audience of the Southeastern Geophysical Fluid Dynamics Conference in March of this year. A study on interannual variability was made using GEOSIM with periodic variations in the thermal forcing. Thus far, the model has not predicted a chaotic behavior as observed in the experiments, although there is a sensitivity in the wavenumber selection to the initial conditions. Work on this subject, and on annulus experiments with non-axisymmetric thermal heating, will continue. The comparison of GEOSIM's predictions will result from the Spacelab 3 GFFC experiments continued over the past year, on a 'back-burner' basis. At this point, the study (in the form of a draft of a journal article) is nearly completed. The results from GEOSIM compared very well with the experiments, and the use of the model allows the demonstration of flow mechanics that were not possible with the experimental data. For example, animation of the model output shows that the forking of the spiral bands is a transient phenomenon, due to the differential east-west propagation of convection bands from different latitudes